diff --git a/Cargo.lock b/Cargo.lock
index b53b6fc..1f25da2 100644
--- a/Cargo.lock
+++ b/Cargo.lock
@@ -93,7 +93,7 @@ dependencies = [
  "regex",
  "rustc-hash",
  "shlex",
- "syn 2.0.74",
+ "syn 2.0.75",
  "which",
 ]
 
@@ -129,7 +129,7 @@ dependencies = [
  "once_cell",
  "proc-macro2",
  "quote",
- "syn 2.0.74",
+ "syn 2.0.75",
 ]
 
 [[package]]
@@ -146,9 +146,9 @@ checksum = "1fd0f2584146f6f2ef48085050886acf353beff7305ebd1ae69500e27c67f64b"
 
 [[package]]
 name = "camino"
-version = "1.1.7"
+version = "1.1.9"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "e0ec6b951b160caa93cc0c7b209e5a3bff7aae9062213451ac99493cd844c239"
+checksum = "8b96ec4966b5813e2c0507c1f86115c8c5abaadc3980879c3424042a02fd1ad3"
 dependencies = [
  "serde",
 ]
@@ -188,9 +188,12 @@ dependencies = [
 
 [[package]]
 name = "cc"
-version = "1.1.10"
+version = "1.1.13"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "e9e8aabfac534be767c909e0690571677d49f41bd8465ae876fe043d52ba5292"
+checksum = "72db2f7947ecee9b03b510377e8bb9077afa27176fdbff55c51027e976fdcc48"
+dependencies = [
+ "shlex",
+]
 
 [[package]]
 name = "cexpr"
@@ -238,9 +241,9 @@ dependencies = [
 
 [[package]]
 name = "cmake"
-version = "0.1.50"
+version = "0.1.51"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "a31c789563b815f77f4250caee12365734369f942439b7defd71e18a48197130"
+checksum = "fb1e43aa7fd152b1f968787f7dbcdeb306d1867ff373c69955211876c053f91a"
 dependencies = [
  "cc",
 ]
@@ -340,7 +343,7 @@ dependencies = [
  "ident_case",
  "proc-macro2",
  "quote",
- "syn 2.0.74",
+ "syn 2.0.75",
 ]
 
 [[package]]
@@ -351,7 +354,7 @@ checksum = "d336a2a514f6ccccaa3e09b02d41d35330c07ddf03a62165fcec10bb561c7806"
 dependencies = [
  "darling_core",
  "quote",
- "syn 2.0.74",
+ "syn 2.0.75",
 ]
 
 [[package]]
@@ -374,7 +377,7 @@ dependencies = [
  "proc-macro-error",
  "proc-macro2",
  "quote",
- "syn 2.0.74",
+ "syn 2.0.75",
 ]
 
 [[package]]
@@ -532,7 +535,7 @@ dependencies = [
  "darling",
  "proc-macro2",
  "quote",
- "syn 2.0.74",
+ "syn 2.0.75",
 ]
 
 [[package]]
@@ -855,9 +858,9 @@ dependencies = [
 
 [[package]]
 name = "indexmap"
-version = "2.3.0"
+version = "2.4.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "de3fc2e30ba82dd1b3911c8de1ffc143c74a914a14e99514d7637e3099df5ea0"
+checksum = "93ead53efc7ea8ed3cfb0c79fc8023fbb782a5432b52830b6518941cebe6505c"
 dependencies = [
  "equivalent",
  "hashbrown",
@@ -880,9 +883,9 @@ checksum = "49f1f14873335454500d59611f1cf4a4b0f786f9ac11f4312a78e4cf2566695b"
 
 [[package]]
 name = "js-sys"
-version = "0.3.69"
+version = "0.3.70"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "29c15563dc2726973df627357ce0c9ddddbea194836909d655df6a75d2cf296d"
+checksum = "1868808506b929d7b0cfa8f75951347aa71bb21144b7791bae35d9bccfcfe37a"
 dependencies = [
  "wasm-bindgen",
 ]
@@ -901,9 +904,9 @@ checksum = "830d08ce1d1d941e6b30645f1a0eb5643013d835ce3779a5fc208261dbe10f55"
 
 [[package]]
 name = "libc"
-version = "0.2.155"
+version = "0.2.158"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "97b3888a4aecf77e811145cadf6eef5901f4782c53886191b2f693f24761847c"
+checksum = "d8adc4bb1803a324070e64a98ae98f38934d91957a99cfb3a43dcbc01bc56439"
 
 [[package]]
 name = "libloading"
@@ -1032,7 +1035,7 @@ dependencies = [
  "proc-macro-crate",
  "proc-macro2",
  "quote",
- "syn 2.0.74",
+ "syn 2.0.75",
 ]
 
 [[package]]
@@ -1066,7 +1069,7 @@ source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "5f12335488a2f3b0a83b14edad48dca9879ce89b2edd10e80237e4e852dd645e"
 dependencies = [
  "proc-macro2",
- "syn 2.0.74",
+ "syn 2.0.75",
 ]
 
 [[package]]
@@ -1270,29 +1273,29 @@ dependencies = [
 
 [[package]]
 name = "serde"
-version = "1.0.207"
+version = "1.0.208"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "5665e14a49a4ea1b91029ba7d3bca9f299e1f7cfa194388ccc20f14743e784f2"
+checksum = "cff085d2cb684faa248efb494c39b68e522822ac0de72ccf08109abde717cfb2"
 dependencies = [
  "serde_derive",
 ]
 
 [[package]]
 name = "serde_derive"
-version = "1.0.207"
+version = "1.0.208"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "6aea2634c86b0e8ef2cfdc0c340baede54ec27b1e46febd7f80dffb2aa44a00e"
+checksum = "24008e81ff7613ed8e5ba0cfaf24e2c2f1e5b8a0495711e44fcd4882fca62bcf"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn 2.0.74",
+ "syn 2.0.75",
 ]
 
 [[package]]
 name = "serde_json"
-version = "1.0.124"
+version = "1.0.125"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "66ad62847a56b3dba58cc891acd13884b9c61138d330c0d7b6181713d4fce38d"
+checksum = "83c8e735a073ccf5be70aa8066aa984eaf2fa000db6c8d0100ae605b366d31ed"
 dependencies = [
  "itoa",
  "memchr",
@@ -1368,7 +1371,7 @@ dependencies = [
  "proc-macro2",
  "quote",
  "rustversion",
- "syn 2.0.74",
+ "syn 2.0.75",
 ]
 
 [[package]]
@@ -1390,9 +1393,9 @@ dependencies = [
 
 [[package]]
 name = "syn"
-version = "2.0.74"
+version = "2.0.75"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "1fceb41e3d546d0bd83421d3409b1460cc7444cd389341a4c880fe7a042cb3d7"
+checksum = "f6af063034fc1935ede7be0122941bafa9bacb949334d090b77ca98b5817c7d9"
 dependencies = [
  "proc-macro2",
  "quote",
@@ -1429,7 +1432,7 @@ checksum = "a4558b58466b9ad7ca0f102865eccc95938dca1a74a856f2b57b6629050da261"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn 2.0.74",
+ "syn 2.0.75",
 ]
 
 [[package]]
@@ -1524,9 +1527,9 @@ dependencies = [
 
 [[package]]
 name = "unicode-xid"
-version = "0.2.4"
+version = "0.2.5"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "f962df74c8c05a667b5ee8bcf162993134c104e96440b663c8daa176dc772d8c"
+checksum = "229730647fbc343e3a80e463c1db7f78f3855d3f3739bee0dda773c9a037c90a"
 
 [[package]]
 name = "untrusted"
@@ -1591,34 +1594,35 @@ checksum = "9c8d87e72b64a3b4db28d11ce29237c246188f4f51057d65a7eab63b7987e423"
 
 [[package]]
 name = "wasm-bindgen"
-version = "0.2.92"
+version = "0.2.93"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "4be2531df63900aeb2bca0daaaddec08491ee64ceecbee5076636a3b026795a8"
+checksum = "a82edfc16a6c469f5f44dc7b571814045d60404b55a0ee849f9bcfa2e63dd9b5"
 dependencies = [
  "cfg-if",
+ "once_cell",
  "wasm-bindgen-macro",
 ]
 
 [[package]]
 name = "wasm-bindgen-backend"
-version = "0.2.92"
+version = "0.2.93"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "614d787b966d3989fa7bb98a654e369c762374fd3213d212cfc0251257e747da"
+checksum = "9de396da306523044d3302746f1208fa71d7532227f15e347e2d93e4145dd77b"
 dependencies = [
  "bumpalo",
  "log",
  "once_cell",
  "proc-macro2",
  "quote",
- "syn 2.0.74",
+ "syn 2.0.75",
  "wasm-bindgen-shared",
 ]
 
 [[package]]
 name = "wasm-bindgen-macro"
-version = "0.2.92"
+version = "0.2.93"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "a1f8823de937b71b9460c0c34e25f3da88250760bec0ebac694b49997550d726"
+checksum = "585c4c91a46b072c92e908d99cb1dcdf95c5218eeb6f3bf1efa991ee7a68cccf"
 dependencies = [
  "quote",
  "wasm-bindgen-macro-support",
@@ -1626,22 +1630,22 @@ dependencies = [
 
 [[package]]
 name = "wasm-bindgen-macro-support"
-version = "0.2.92"
+version = "0.2.93"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "e94f17b526d0a461a191c78ea52bbce64071ed5c04c9ffe424dcb38f74171bb7"
+checksum = "afc340c74d9005395cf9dd098506f7f44e38f2b4a21c6aaacf9a105ea5e1e836"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn 2.0.74",
+ "syn 2.0.75",
  "wasm-bindgen-backend",
  "wasm-bindgen-shared",
 ]
 
 [[package]]
 name = "wasm-bindgen-shared"
-version = "0.2.92"
+version = "0.2.93"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "af190c94f2773fdb3729c55b007a722abb5384da03bc0986df4c289bf5567e96"
+checksum = "c62a0a307cb4a311d3a07867860911ca130c3494e8c2719593806c08bc5d0484"
 
 [[package]]
 name = "webpki-roots"
diff --git a/Cargo.toml b/Cargo.toml
index 506b30e..f6437fb 100644
--- a/Cargo.toml
+++ b/Cargo.toml
@@ -22,8 +22,8 @@ log = { version = "0.4.22", default-features = false }
 esp-idf-svc = { version = "0.49.1", features = ["default", "pio", "embassy-sync", "critical-section"], default-features = false }
 embedded-svc = { version = "0.28.0", features = ["std"], default-features = false}
 anyhow =  { version = "1.0.86", features = ["std"], default-features = false}
-serde = { version = "1.0.207", features = ["std", "derive"], default-features = false}
-serde_json = { version = "1.0.124", features = ["std"], default-features = false}
+serde = { version = "1.0.208", features = ["std", "derive"], default-features = false}
+serde_json = { version = "1.0.125", features = ["std"], default-features = false}
 
 [build-dependencies]
 embuild = "0.32.0"
\ No newline at end of file
diff --git a/README.md b/README.md
index dcf4224..3c04d54 100644
--- a/README.md
+++ b/README.md
@@ -16,8 +16,8 @@ POST http://192.168.4.64/boat
 Content-Type: application/json
 
 {
-  "motor_speed": 255,
-  "rudder_angle": 90
+  "motor_speed": "120",
+  "rudder_angle": "90"
 }
 
 ```
diff --git a/build.rs b/build.rs
index 2738708..fff1a62 100644
--- a/build.rs
+++ b/build.rs
@@ -1,6 +1,6 @@
 fn main() {
     embuild::espidf::sysenv::output();
-    println!("cargo:rustc-env=WIFI_AP_MODE=1"); // Set to anything else for client mode (connects to your netwok)
-    println!("cargo:rustc-env=WIFI_SSID=WIFI_BOAT_HOTSPOT"); // Replace with your own SSID (AP SSID or Network SSID)
+    println!("cargo:rustc-env=WIFI_AP_MODE=1"); // Set to 1 for AP mode, anything else for client mode (connects to your netwok)
+    println!("cargo:rustc-env=WIFI_SSID=Boat_Hotspot"); // Replace with your own SSID (AP SSID or Network SSID)
     println!("cargo:rustc-env=WIFI_PASSWORD=password"); // Replace with your own password (AP password or Network password)
 }
diff --git a/espflash.toml b/espflash.toml
index 4c3b127..f0bb709 100644
--- a/espflash.toml
+++ b/espflash.toml
@@ -9,4 +9,4 @@ vid = "303a"
 pid = "1001"
 
 [flash]
-size = "8MB"
+size = "16MB"
diff --git a/src/boat.rs b/src/boat.rs
new file mode 100644
index 0000000..500df30
--- /dev/null
+++ b/src/boat.rs
@@ -0,0 +1,80 @@
+use anyhow::Result;
+use esp_idf_svc::hal::ledc::LedcDriver;
+
+pub(crate) struct Boat<'a> {
+    pub(crate) motor: Motor<'a>,
+    pub(crate) rudder: Rudder<'a>,
+}
+
+
+pub(crate) struct Motor<'a> {
+    pwm: LedcDriver<'a>,
+    max_duty: u32
+}
+
+impl<'a> Motor<'a> {
+    pub(crate) fn new(pwm: LedcDriver<'a>) -> Self {
+        let max_duty = pwm.get_max_duty();
+        Motor { pwm, max_duty }
+    }
+
+    pub(crate) fn start(&mut self) -> Result<()> {
+        self.pwm.enable()?;
+        self.set_power(self.max_duty / 2)?;
+        Ok(())
+    }
+
+    pub(crate) fn set_power(&mut self, value: u32) -> Result<()> {
+        self.pwm.set_duty(value)?;
+        Ok(())
+    }
+}
+
+pub(crate) struct Rudder<'a> {
+    servo: LedcDriver<'a>,
+    min_duty: u32,
+    max_duty: u32,
+    min_angle: u32,
+    max_angle: u32
+}
+
+impl<'a> Rudder<'a> {
+
+
+
+    pub(crate) fn new(servo: LedcDriver<'a>) -> Self {
+        let max_duty = servo.get_max_duty();
+        let min_duty = max_duty * 25 / 1000;
+        let max_duty = max_duty * 125 / 1000;
+        Rudder {
+            servo,
+            min_duty,
+            max_duty,
+            min_angle: 0,
+            max_angle: 180
+        }
+    }
+
+    pub(crate) fn start(&mut self) -> Result<()> {
+        self.servo.enable()?;
+        self.set_angle(90)
+    }
+
+
+    pub(crate) fn set_angle(&mut self, angle: u32) -> Result<()> {
+        let duty = map_angle_to_duty(
+            angle, 
+            self.min_angle,
+            self.max_angle,
+            self.min_duty, 
+            self.max_duty
+        );
+        self.servo.set_duty(duty)?;
+        Ok(())
+    }
+
+}
+
+fn map_angle_to_duty(x: u32, in_min: u32, in_max: u32, out_min: u32, out_max: u32) -> u32 {
+    (x - in_min) * (out_max - out_min) / (in_max - in_min) + out_min
+}
\ No newline at end of file
diff --git a/src/boat/mod.rs b/src/boat/mod.rs
deleted file mode 100644
index 63d7597..0000000
--- a/src/boat/mod.rs
+++ /dev/null
@@ -1,7 +0,0 @@
-pub(crate) mod motor;
-pub(crate) mod rudder;
-
-pub(crate) struct Boat<'a> {
-    pub(crate) motor: motor::Motor<'a>,
-    pub(crate) rudder: rudder::Rudder<'a>,
-}
diff --git a/src/boat/motor.rs b/src/boat/motor.rs
deleted file mode 100644
index 5a5a232..0000000
--- a/src/boat/motor.rs
+++ /dev/null
@@ -1,40 +0,0 @@
-use anyhow::Result;
-use esp_idf_svc::hal::{
-    ledc::{config::TimerConfig, LedcDriver, LedcTimerDriver},
-    prelude::*,
-};
-
-pub(crate) struct Motor<'a> {
-    pwm: LedcDriver<'a>,
-}
-
-impl<'a> Motor<'a> {
-    pub(crate) fn new(pwm: LedcDriver<'a>) -> Self {
-        Motor { pwm }
-    }
-
-    pub(crate) fn start(&mut self) -> Result<()> {
-        self.pwm.enable()?;
-        Ok(())
-    }
-
-    pub(crate) fn set_power(&mut self, value: u8) -> Result<()> {
-        self.pwm.set_duty(value.into())?;
-        Ok(())
-    }
-}
-
-pub(crate) fn setup_motor() -> Result<Motor<'static>> {
-    let peripherals = Peripherals::take()?;
-    let pwm = LedcDriver::new(
-        peripherals.ledc.channel0,
-        LedcTimerDriver::new(
-            peripherals.ledc.timer0,
-            &TimerConfig::new().frequency(10.kHz().into()),
-        )?,
-        peripherals.pins.gpio5,
-    )?;
-    let mut motor = Motor::new(pwm);
-    motor.start()?;
-    Ok(motor)
-}
diff --git a/src/boat/rudder.rs b/src/boat/rudder.rs
deleted file mode 100644
index cd44ed1..0000000
--- a/src/boat/rudder.rs
+++ /dev/null
@@ -1,58 +0,0 @@
-use std::sync::{Arc, Mutex};
-
-use anyhow::Result;
-use esp_idf_svc::hal::{
-    ledc::{self, config::TimerConfig, LedcDriver, LedcTimerDriver},
-    prelude::*,
-};
-
-pub(crate) struct Rudder<'a> {
-    servo: Arc<Mutex<LedcDriver<'a>>>,
-    min_angle: u32,
-    spread: u32,
-}
-
-impl<'a> Rudder<'a> {
-    pub(crate) fn new(servo: Arc<Mutex<LedcDriver<'a>>>) -> Self {
-        let max_duty = servo.lock().unwrap().get_max_duty();
-        let max_angle = max_duty / 8;
-        let min_angle = max_duty / 40;
-        let spread = max_angle - min_angle / 180;
-        Rudder {
-            servo,
-            min_angle,
-            spread,
-        }
-    }
-
-    pub(crate) fn start(&mut self) -> Result<()> {
-        self.servo.lock().unwrap().enable()?;
-        Ok(())
-    }
-
-    pub(crate) fn set_angle(&mut self, angle: u32) -> Result<()> {
-        let duty = angle * self.spread + self.min_angle;
-        self.servo.lock().unwrap().set_duty(duty)?;
-        Ok(())
-    }
-}
-
-pub(crate) fn setup_rudder() -> Result<Rudder<'static>> {
-    let peripherals = Peripherals::take()?;
-    let servo = Arc::new(Mutex::new(
-        LedcDriver::new(
-            peripherals.ledc.channel1,
-            LedcTimerDriver::new(
-                peripherals.ledc.timer1,
-                &TimerConfig::new()
-                    .frequency(50.Hz())
-                    .resolution(ledc::Resolution::Bits14),
-            )?,
-            peripherals.pins.gpio5,
-        )
-        .unwrap(),
-    ));
-    let mut rudder = Rudder::new(servo);
-    rudder.start()?;
-    Ok(rudder)
-}
diff --git a/src/main.rs b/src/main.rs
index 856b9de..706eaa5 100644
--- a/src/main.rs
+++ b/src/main.rs
@@ -3,36 +3,72 @@ mod server;
 mod wifi;
 
 use anyhow::Result;
-use log::{debug, info};
+use boat::{Motor, Rudder};
+use esp_idf_svc::hal::{ledc::{config::TimerConfig, LedcDriver, LedcTimerDriver, Resolution}, prelude::*};
+use log::info;
 use std::{thread::sleep, time::Duration};
 
 const WIFI_SSID: &str = env!("WIFI_SSID");
 const WIFI_PASSWORD: &str = env!("WIFI_PASSWORD");
 const WIFI_AP_MODE: &str = env!("WIFI_AP_MODE");
 
+
 fn main() -> Result<()> {
     // Initialize ESP-IDF system and logging.
     esp_idf_svc::sys::link_patches();
     esp_idf_svc::log::EspLogger::initialize_default();
 
+    let peripherals = Peripherals::take()?;
+    
     info!("connecting to wifi...");
-    let wifi = wifi::setup_wifi(WIFI_SSID, WIFI_PASSWORD, WIFI_AP_MODE == "1")?;
+    let wifi = wifi::setup_wifi(WIFI_SSID, WIFI_PASSWORD, WIFI_AP_MODE == "1", peripherals.modem)?;
     sleep(Duration::from_secs(1));
     let ip = wifi.sta_netif().get_ip_info()?.ip;
     info!("connected to wifi with ip: {ip:?}");
 
     // Create the boat and its components.
-    let boat = boat::Boat {
-        motor: boat::motor::setup_motor()?,
-        rudder: boat::rudder::setup_rudder()?,
-    };
+    let motor_channel = peripherals.ledc.channel0;
+    let motor_timer = peripherals.ledc.timer0;
+    let motor_timer_config = TimerConfig::new()
+        .frequency(50.kHz().into())
+        .resolution(Resolution::Bits8);
+    let motor_pwm_pin = peripherals.pins.gpio5;
+    let motor_timer_driver = LedcTimerDriver::new( motor_timer, &motor_timer_config)?;
+    let motor_pwm = LedcDriver::new(
+        motor_channel, 
+        motor_timer_driver,
+        motor_pwm_pin,
+    )?;
+
+    let mut motor = Motor::new(motor_pwm);
+    motor.start()?;
+
+
+    let servo_channel = peripherals.ledc.channel1;
+    let servo_timer = peripherals.ledc.timer1;
+    let servo_timer_config = TimerConfig::default()
+        .frequency(50.Hz())
+        .resolution(Resolution::Bits14);
+    let servo_pwm_pin = peripherals.pins.gpio6;
+    let servo_timer_driver = LedcTimerDriver::new(servo_timer, &servo_timer_config)?;
+    let servo = LedcDriver::new(
+        servo_channel,
+        servo_timer_driver,
+        servo_pwm_pin,
+    )?;
+    
+    let mut rudder = Rudder::new(servo);
+    rudder.start()?;
+
+
+    let boat = boat::Boat{ motor, rudder };
 
     // Set up http server and keep a reference to it (otherwise it drops out of scope).
     let _server = server::setup_server(boat)?;
 
     // Keep the main thread alive by sleeping periodically.
     loop {
-        debug!("server is still running.");
-        sleep(Duration::from_secs(10));
+        info!("server is still running. wifi status: {}", wifi.is_connected()?);
+        sleep(Duration::from_secs(20));
     }
 }
diff --git a/src/server.rs b/src/server.rs
index 905643e..46adf76 100644
--- a/src/server.rs
+++ b/src/server.rs
@@ -1,18 +1,19 @@
 use crate::boat::Boat;
 use anyhow::Result;
 use embedded_svc::http::Headers;
-use esp_idf_svc::http::{
+use esp_idf_svc::{http::{
     server::{EspHttpConnection, EspHttpServer, Request},
     Method,
-};
+}, io::Write};
 use esp_idf_svc::io::Read;
+use log::info;
 use serde::{Deserialize, Serialize};
 use std::sync::{Arc, Mutex};
 
 #[derive(Debug, Serialize, Deserialize)]
 struct BoatInstruction {
-    pub(crate) motor_speed: u8,
-    pub(crate) rudder_angle: u32,
+    pub(crate) motor_speed: String,
+    pub(crate) rudder_angle: String,
 }
 
 pub(crate) fn setup_server(boat: Boat<'static>) -> Result<EspHttpServer<'static>> {
@@ -28,9 +29,17 @@ pub(crate) fn setup_server(boat: Boat<'static>) -> Result<EspHttpServer<'static>
     // Boat instruction handler
     server.fn_handler::<anyhow::Error, _>("/boat", Method::Post, move |mut request| {
         let instruction = extract_boat_instruction(&mut request)?;
+        info!("sending boat instruction: {instruction:?}");
         let mut boat_guard = boat.lock().unwrap();
-        boat_guard.motor.set_power(instruction.motor_speed)?;
-        boat_guard.rudder.set_angle(instruction.rudder_angle)?;
+        boat_guard.motor.set_power(instruction.motor_speed.parse()?)?;
+        boat_guard.rudder.set_angle(instruction.rudder_angle.parse()?)?;
+        Ok(())
+    })?;
+
+    // Web UI handler
+    let html = include_str!("./web/index.html");
+    server.fn_handler::<anyhow::Error, _>("/", Method::Get, | request| {
+        request.into_ok_response()?.write_all(html.as_bytes())?;
         Ok(())
     })?;
 
diff --git a/web/index.html b/src/web/index.html
similarity index 81%
rename from web/index.html
rename to src/web/index.html
index 355990f..838792a 100644
--- a/web/index.html
+++ b/src/web/index.html
@@ -4,30 +4,31 @@
     <meta charset="UTF-8">
     <meta name="viewport" content="width=device-width, initial-scale=1.0">
     <title>Boat Controller</title>
-    <link rel="stylesheet" href="https://cdnjs.cloudflare.com/ajax/libs/bulma/0.9.3/css/bulma.min.css">
+    <script src="https://cdn.tailwindcss.com"></script>
+
     <style>
         body {
-            background-color: #f0f0f0;
+            height:  100vh;
+            width: 100vw;
         }
         .controller {
-            width: 80%;
-            margin: 40px auto;
-            background-color: #fff;
+            margin-top: 20px;
             padding: 20px;
-            border-radius: 10px;
-            box-shadow: 0 0 10px rgba(0, 0, 0, 0.1);
         }
     </style>
 </head>
-<body>
-    <div class="controller">
-        <h1 class="title is-3">Boat Controller</h1>
+<body class="theme-dark">
+
+    <h1 class="pt-4 text-center">Boat Controller</h1>
+
+    <div class="controller text-center">
+        
         <div class="columns is-multiline">
             <div class="column is-6">
                 <div class="field">
                     <label class="label">Speed</label>
                     <div class="control">
-                        <input id="speed" type="range" min="0" max="255" value="0">
+                        <input id="speed" type="range" min="0" max="255" value="100">
                         <span id="speed-value">0</span>
                     </div>
                 </div>
@@ -36,15 +37,18 @@ <h1 class="title is-3">Boat Controller</h1>
                 <div class="field">
                     <label class="label">Steering</label>
                     <div class="control">
-                        <input id="steering" type="range" min="-90" max="90" value="0">
+                        <input id="steering" type="range" min="0" max="180" value="90">
                         <span id="steering-value">0°</span>
                     </div>
                 </div>
             </div>
         </div>
+
     </div>
 
     <script>
+
+
         const motorSpeedInput = document.getElementById('speed');
         const rudderAngleInput = document.getElementById('steering');
 
diff --git a/src/wifi.rs b/src/wifi.rs
index 64524b3..e60808e 100644
--- a/src/wifi.rs
+++ b/src/wifi.rs
@@ -1,7 +1,7 @@
 use anyhow::Result;
 use esp_idf_svc::{
     eventloop::EspSystemEventLoop,
-    hal::prelude::Peripherals,
+    hal::modem::Modem,
     nvs::EspDefaultNvsPartition,
     wifi::{AccessPointConfiguration, AuthMethod, ClientConfiguration, Configuration, EspWifi},
 };
@@ -12,8 +12,8 @@ pub(crate) fn setup_wifi<'a>(
     ssid: &'a str,
     password: &'a str,
     is_ap_mode: bool,
+    modem: Modem
 ) -> Result<EspWifi<'a>> {
-    let peripherals = Peripherals::take()?;
     let sys_loop = EspSystemEventLoop::take()?;
     let nvs = EspDefaultNvsPartition::take()?;
     let ssid = ssid.try_into().unwrap();
@@ -34,7 +34,7 @@ pub(crate) fn setup_wifi<'a>(
         })
     };
 
-    let mut esp_wifi = EspWifi::new(peripherals.modem, sys_loop, Some(nvs))?;
+    let mut esp_wifi = EspWifi::new(modem, sys_loop, Some(nvs))?;
     esp_wifi.set_configuration(&configuration)?;
 
     esp_wifi.start()?;